CN105915140A - Decoupling control method based on virtual synchronous generator and decoupling control device thereof - Google Patents

Abstract

The invention provides a decoupling control method based on a virtual synchronous generator and a decoupling control device thereof. The decoupling control method based on the virtual synchronous generator comprises the steps that an LC filter equation of the virtual synchronous generator is established; the coordinate system of the LC filter equation is transformed into a dq coordinate system so that the expression of the LC filter equation in the dq coordinate system is obtained; the d-axis component of current, the q-axis component of current, the d-axis component of voltage and the q-axis component of voltage are respectively acquired according to the expression of the filter equation in the dq coordinate system; and auto-disturbance-rejection decoupling control is performed on the d-axis component of current, the q-axis component of current, the d-axis component of voltage and q-axis component of voltage. According to the technical scheme, real voltage and current dq decoupling control can be realized, and robustness and adaptability of a microgrid system are better.

Description

A kind of decoupling control method based on virtual synchronous electromotor and device

Technical field

The present invention relates to field of electrical control, particularly relate to a kind of decoupling control based on virtual synchronous electromotor Method and device processed.

Background technology

Become increasingly conspicuous along with the energy problem in global range and ambient pressure constantly increases, the focus of people New energy field, distributed generation technology, micro-capacitance sensor has been transferred to technically from conventional electric power generation technical field, Distributed power source permeability in power system constantly promotes.The output of distributed power generation is mostly direct current Electricity, needs to access power distribution network by combining inverter.The conventional more employing of distributed grid-connected Generation Control Power electronics combining inverter pattern, this mode response speed is very fast, and rotary inertia is very little, nothing Method participates in electrical network regulation, it is impossible to ensure the stabilization of power grids.

In order to solve the stability problem of distributed generation system, it has been proposed that virtual synchronous electromotor (Virtual Synchronous Generator) controls technology.With the parallel network reverse device control of voltage source form Virtual synchronous electromotor processed, forms voltage-source type and possesses the combining inverter of virtual synchronous machine characteristic, real Distributed power source this function of off-network seamless switching are showed.

When the inverter utilizing voltage source form realizes virtual synchronous electromotor off-network seamless switching, Micro-capacitance sensor voltage x current dq decoupling need to be realized.Use traditional PI control algolithm can realize voltage x current Dq decoupling, but can there is perturbation in resistance parameter and filter inductance in traditional PI controller, thus with There are differences between the parameter that controller sets, and a kind of compensation control weakening coupling of front feedback System, it is impossible to realizing decoupling truly, effect is not ideal.

Summary of the invention

Based on above-mentioned defect of the prior art and deficiency, the present invention proposes a kind of based on virtual synchronous generating The active disturbance rejection decoupling control method of machine and device, be better achieved the dq uneoupled control to voltage x current.

The present invention provides a kind of decoupling control method based on virtual synchronous electromotor, including:

Set up the LC filter equation of virtual synchronous electromotor；

The coordinate system of described LC filter equation is converted into dq coordinate system, obtains described LC wave filter Equation expression formula in dq coordinate system；

According to described filter equation expression formula in dq coordinate system, obtain the d axle component of electric current respectively With the q axle component of electric current and the d axle component of voltage and the q axle component of voltage；

Respectively to the d axle component of described electric current and the q axle component of electric current and the d axle component of voltage and voltage Q axle component carry out active disturbance rejection uneoupled control.

Further, the described LC filter equation setting up virtual synchronous electromotor, including:

According to voltage-source type combining inverter topology diagram, the voltage x current of combined with virtual synchronous generator Fundamental relation, the LC filter equation setting up virtual synchronous electromotor is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_a}{dt}=e_a-u_a-{\mathrm{Ri}}_a\\ L\frac{{\mathrm{di}}_b}{dt}=e_b-u_b-{\mathrm{Ri}}_b\\ L\frac{{\mathrm{di}}_c}{dt}=e_c-u_c-{\mathrm{Ri}}_c\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_a}{dt}=i_a-i_{oa}\\ C\frac{{\mathrm{du}}_b}{dt}=i_b-i_{ob}\\ C\frac{{\mathrm{du}}_c}{dt}=i_c-i_{oc}\end{array}\right.$

In formula, R, L, C are the impedance of virtual synchronous machine, filter inductance, filter capacitor respectively；i_a、i_b、i_c It is the three-phase current of filter inductance respectively；i_oa、i_ob、i_ocIt is the three-phase current flowing to common bus respectively； u_a、u_b、u_cIt is the output voltage of three-phase filter capacitor respectively；e_a、e_b、e_cFor inverter output voltage.

Further, the described coordinate system by LC filter equation is converted into dq coordinate system, obtains described LC filter equation expression formula in dq coordinate system, including:

By coordinate transform, three-phase symmetrical rest frame is converted into electrical network fundamental frequency synchronous rotary Dq coordinate system, obtaining filter equation expression formula in dq coordinate system is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_d}{dt}=-R{i}_d+\mathrm{\ω}L{i}_q+e_d-u_d\\ L\frac{{\mathrm{di}}_q}{dt}=-{\mathrm{Ri}}_q+{\mathrm{\ωLi}}_d+e_q-u_q\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_d}{dt}=i_d-i_{od}+{\mathrm{\ωCu}}_q\\ C\frac{{\mathrm{du}}_q}{dt}=i_q-i_{oq}-{\mathrm{\ωCu}}_d\end{array}\right.$

In formula, e_d, e_qIt is pressed in d axle and the component of q axle for inverter side three-phase alternating current；i_d, i_qFor inversion The d axle component of side three-phase alternating current and q axle component；u_d, u_qD for the set end voltage of synchronous generator Axle component and q axle component.

Further, the described expression formula according to filter equation in dq coordinate system, obtain electric current respectively D axle component and the q axle component of electric current and the d axle component of voltage and the q axle component of voltage, including:

Taking state variable is x₁=i_d,x₂=i_q, x₃=u_d,x₄=u_q, state variable is substituted into filter equation and exists Expression formula in dq coordinate system, respectively obtains electric current at d axle, the state equation of q axle, voltage d axle, The state equation of q axle:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=\frac{1}{L}(-R{x}_1+\mathrm{\ω}L{x}_2+e_d-u_d)\\ {\stackrel{\·}{x}}_2=\frac{1}{L}(-R{x}_2+\mathrm{\ω}L{x}_1+e_q-u_q)\end{array}\right.$

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_3=\frac{1}{C}(i_d+{\mathrm{\ωCx}}_4)-\frac{1}{C}{i}_{od}\\ {\stackrel{\·}{x}}_4=\frac{1}{C}(i_q+{\mathrm{\ωCx}}_3)-\frac{1}{C}{i}_{oq}\end{array}\right.$

In formula,

Further, described respectively to the d axle component of electric current and the q axle component of electric current and the d of voltage The q axle component of axle component and voltage carries out active disturbance rejection uneoupled control, including:

According to the d axle component of electric current, the q axle component of electric current, the d axle component of voltage and the voltage that set The desired value transition process arranging respectively of state variable corresponding to q axle component, obtain smooth output letter Number, and extract the differential signal of output signal；

The q axle of d axle component, the q axle component of electric current, the d axle component of voltage and the voltage of electric current is divided State variable and inside and outside disturbance that amount is corresponding are estimated, obtain the d axle component of electric current, the q of electric current Axle component, the estimated value of the d axle component state variable corresponding with the q axle component of voltage of voltage and disturb Dynamic estimated value；

Respectively to described output signal and the d axle component of described electric current, the q axle component of electric current, the d of voltage The estimated value of the state variable that axle component is corresponding with the q axle component of voltage takes difference, obtains state variable by mistake Difference；

The compensation that the nonlinear feedback that utilizes described state variable error corresponding is corresponding with described disturbance estimated value Measure composition control amount together；

D axle component, the q axle component of electric current, the d axle component of voltage and the electricity to electric current respectively according to controlled quentity controlled variable The state variable that the q axle component of pressure is corresponding carries out active disturbance rejection uneoupled control.

The present invention provides a kind of uneoupled control device based on virtual synchronous electromotor, including:

Establishing equation unit, for setting up the LC filter equation of virtual synchronous electromotor；

Coordinate transformation unit, for the coordinate system of described LC filter equation is converted into dq coordinate system, Obtain described LC filter equation expression formula in dq coordinate system；

Component acquiring unit, for according to described filter equation expression formula in dq coordinate system, respectively The q axle of the d axle component and the q axle component of electric current and the d axle component of voltage and voltage that obtain electric current divides Amount；

Active disturbance rejection uneoupled control unit, is used for d axle component and the q axle component of electric current respectively to described electric current And the q axle component of the d axle component of voltage and voltage carries out active disturbance rejection uneoupled control.

Further, described establishing equation unit, specifically for:

According to voltage-source type combining inverter topology diagram, the voltage x current of combined with virtual synchronous generator Fundamental relation, the LC filter equation setting up virtual synchronous electromotor is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_a}{dt}=e_a-u_a-R{i}_a\\ L\frac{{\mathrm{di}}_b}{dt}=e_b-u_b-{\mathrm{Ri}}_b\\ L\frac{{\mathrm{di}}_c}{dt}=e_c-u_c-{\mathrm{Ri}}_c\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_a}{dt}=i_a-i_{oa}\\ C\frac{{\mathrm{du}}_b}{dt}=i_b-i_{ob}\\ C\frac{{\mathrm{du}}_c}{dt}=i_c-i_{oc}\end{array}\right.$

In formula, R, L, C are the impedance of virtual synchronous machine, filter inductance, filter capacitor respectively；i_a、i_b、i_c It is the three-phase current of filter inductance respectively；i_oa、i_ob、i_ocIt is the three-phase current flowing to common bus respectively； u_a、u_b、u_cIt is the output voltage of three-phase filter capacitor respectively；e_a、e_b、e_cFor inverter output voltage.

Further, described coordinate transformation unit, specifically for:

By coordinate transform, three-phase symmetrical rest frame is converted into electrical network fundamental frequency synchronous rotary Dq coordinate system, obtaining filter equation expression formula in dq coordinate system is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_d}{dt}=-{\mathrm{Ri}}_d+{\mathrm{\ωLi}}_q+e_d-u_d\\ L\frac{{\mathrm{di}}_q}{dt}=-{\mathrm{Ri}}_q+{\mathrm{\ωLi}}_d+e_q-u_q\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_d}{dt}=i_d-i_{od}+\mathrm{\ω}C{u}_q\\ C\frac{{\mathrm{du}}_q}{dt}=i_q-i_{oq}-{\mathrm{\ωCu}}_d\end{array}\right.$

In formula, e_d, e_qIt is pressed in d axle and the component of q axle for inverter side three-phase alternating current；i_d, i_qFor inverter side The d axle component of three-phase alternating current and q axle component；u_d, u_qD axle for the set end voltage of synchronous generator divides Amount and q axle component.

Further, described component acquiring unit, including:

State variable value unit, being used for taking state variable is x₁=i_d,x₂=i_q, x₃=u_d,x₄=u_q；

Substitute into computing unit, for state variable being substituted into filter equation expression formula in dq coordinate system, Respectively obtaining electric current at d axle, the state equation of q axle, voltage is at d axle, the state equation of q axle:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=\frac{1}{L}(-R{x}_1+\mathrm{\ω}L{x}_2+e_d-u_d)\\ {\stackrel{\·}{x}}_2=\frac{1}{L}(-R{x}_2+\mathrm{\ω}L{x}_1+e_q-u_q)\end{array}\right.$

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_3=\frac{1}{C}(i_d+\mathrm{\ω}C{x}_4)-\frac{1}{C}{i}_{od}\\ {\stackrel{\·}{x}}_4=\frac{1}{C}(i_q+{\mathrm{\ωCx}}_3)-\frac{1}{C}{i}_{oq}\end{array}\right.$

In formula,

Further, described active disturbance rejection uneoupled control unit, including:

Nonlinear Tracking Differentiator, for the d axle component according to the electric current set and the q axle component of electric current And the desired value of the d axle component of the voltage state variable corresponding with the q axle component of voltage arranged respectively Transient, obtains smooth output signal, and extracts the differential signal of output signal；

Extended state observer, for the d axle component of electric current and the q axle component of electric current and the d of voltage State variable and inside and outside disturbance that axle component is corresponding with the q axle component of voltage are estimated, obtain electric current D axle component corresponding with the q axle component of voltage with the d axle component of the q axle component of electric current and voltage The estimated value of state variable and disturbance estimated value；

Take difference unit, for d axle component and the q of electric current to described output signal and described electric current respectively The estimated value of the state variable that the d axle component of axle component and voltage is corresponding with the q axle component of voltage takes difference Value, obtains state variable error；

Nonlinearity erron Feedback Control Laws, for nonlinear feedback and the expansion shape of utilization state variable error The compensation dosage composition control amount together of the disturbance estimated value that state observer obtains；

Uneoupled control unit, for d axle component and the q axle of electric current to electric current respectively according to above-mentioned controlled quentity controlled variable The state variable that the d axle component of component and voltage is corresponding with the q axle component of voltage carries out active disturbance rejection decoupling control System.

The present invention uses said method and device, and acquired has the beneficial effects that: the present invention constructs same Step electromotor dq equivalent model, is realizing synchronous generator with voltage converter in same dq coordinate system Under Model Fusion while, obtain electric current and voltage respectively at d axle and the component of q axle, each component divided Active disturbance rejection decoupling control technology is not utilized to carry out active disturbance rejection uneoupled control.Active disturbance rejection decoupling control technology performance Well, controlling simple, precision is high, has strong robustness and realizability.The present invention utilizes active disturbance rejection solution Coupling controls technology, is truly achieving the voltage-source type unsteady flow with virtual synchronous generator property The voltage x current dq uneoupled control of device, system robustness and adaptability are the best.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below, Accompanying drawing in description is only embodiments of the invention, for those of ordinary skill in the art, not On the premise of paying creative work, it is also possible to obtain other accompanying drawing according to the accompanying drawing provided.

Fig. 1 is a kind of based on virtual synchronous electromotor the decoupling control method that the embodiment of the present invention provides Schematic flow sheet；

Fig. 2 is voltage-source type combining inverter topology diagram；

Fig. 3 is a kind of based on virtual synchronous electromotor the uneoupled control device that the embodiment of the present invention provides Schematic diagram；

Fig. 4 is Active Disturbance Rejection Control basic block diagram；

Fig. 5 is the virtual synchronous generator system block diagram with active disturbance rejection uneoupled control function.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention, and It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing Go out the every other embodiment obtained under creative work premise, broadly fall into the scope of protection of the invention.

The embodiment of the present invention provides a kind of decoupling control method based on virtual synchronous electromotor, sees Fig. 1, The method includes:

S101, set up the LC filter equation of virtual synchronous electromotor；

S102, the coordinate system of described LC filter equation is converted into dq coordinate system, obtains described LC Filter equation expression formula in dq coordinate system；

The mathematical model physical significance of described LC filter equation is clear, directly perceived, but at this mathematical model In, AC is time-varying of ac, is unfavorable for Control System Design.To this end, can be become by coordinate The Coordinate Conversion of described LC filter equation of changing commanders becomes the dq coordinate system with electrical network fundamental frequency synchronous rotary. So after Rotating Transition of Coordinate, the first-harmonic sinusoidal variations amount in described LC filter equation coordinate system will turn DC Variable in chemical conversion synchronous rotating frame, thus simplify Control System Design.

S103, according to described filter equation expression formula in dq coordinate system, obtain the d axle of electric current respectively The q axle component of component and electric current and the d axle component of voltage and the q axle component of voltage；

It is an object of the invention to realize the dq uneoupled control of voltage and current, therefore, obtain electric current and voltage D axle and q axle component be the basis realizing subsequent control.

S104, respectively to the d axle component of described electric current and the q axle component of electric current and the d axle component of voltage and The q axle component of voltage carries out active disturbance rejection uneoupled control.

The present invention uses active disturbance rejection decoupling control technology that described each component is carried out uneoupled control, and this step is Realize the committed step of the dq uneoupled control of voltage and current.Active disturbance rejection decoupling control technology is functional, Control simple, precision high, has strong robustness and realizability, the present invention the step for utilize from anti- Disturb decoupling control technology so that robustness of the present invention and adaptability are the best.

The present invention starts with from the LC filter equation setting up virtual synchronous electromotor, is obtained by Coordinate Conversion The dq equivalent model of virtual synchronous electromotor, obtain the most respectively electric current and voltage d axle and q axle point Amount, utilizes active disturbance rejection decoupling technology to carry out active disturbance rejection uneoupled control each component.Active disturbance rejection uneoupled control skill Art itself have functional, control simple, precision advantages of higher, the present invention is by active disturbance rejection uneoupled control Technology is applied in voltage x current dq uneoupled control, it is achieved that voltage x current dq decoupling truly, System robustness and adaptability are the best.

Optionally, in another embodiment of the present invention, the described LC filter setting up virtual synchronous electromotor Ripple device equation, including:

Voltage-source type combining inverter topology diagram shown in Figure 2, combined with virtual synchronous generator Voltage x current fundamental relation, the LC filter equation setting up virtual synchronous electromotor is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_a}{dt}=e_a-u_a-{\mathrm{Ri}}_a\\ L\frac{{\mathrm{di}}_b}{dt}=e_b-u_b-{\mathrm{Ri}}_b\\ L\frac{{\mathrm{di}}_c}{dt}=e_c-u_c-{\mathrm{Ri}}_c\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_a}{dt}=i_a-i_{oa}\\ C\frac{{\mathrm{du}}_b}{dt}=i_b-i_{ob}\\ C\frac{{\mathrm{du}}_c}{dt}=i_c-i_{oc}\end{array}\right.$

In formula, R, L, C are the impedance of virtual synchronous machine, filter inductance, filter capacitor respectively；i_a、i_b、i_c It is the three-phase current of filter inductance respectively；i_oa、i_ob、i_ocIt is the three-phase current flowing to common bus respectively； u_a、u_b、u_cIt is the output voltage of three-phase filter capacitor respectively；e_a、e_b、e_cFor inverter output voltage.

Optionally, in another embodiment of the present invention, the described coordinate system by LC filter equation turns Change dq coordinate system into, obtain described LC filter equation expression formula in dq coordinate system, including:

By coordinate transform, the three-phase symmetrical rest frame residing for described LC filter equation is converted into With the dq coordinate system of electrical network fundamental frequency synchronous rotary, obtain filter equation table in dq coordinate system Reaching formula is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_d}{dt}=-R{i}_d+\mathrm{\ω}L{i}_q+e_d-u_d\\ L\frac{{\mathrm{di}}_q}{dt}=-{\mathrm{Ri}}_q+{\mathrm{\ωLi}}_d+e_q-u_q\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_d}{dt}=i_d-i_{od}+\mathrm{\ω}C{u}_q\\ C\frac{{\mathrm{du}}_q}{dt}=i_q-i_{oq}-{\mathrm{\ωCu}}_d\end{array}\right.$

In formula, e_d, e_qIt is pressed in d axle and the component of q axle for inverter side three-phase alternating current；i_d, i_qFor inverter side The d axle component of three-phase alternating current and q axle component；u_d, u_qD axle for the set end voltage of synchronous generator divides Amount and q axle component.

Optionally, in another embodiment of the present invention, described according to filter equation in dq coordinate system In expression formula, the d axle obtaining the d axle component of electric current and the q axle component of electric current and voltage respectively divides Amount and the q axle component of voltage, including:

Taking state variable is x₁=i_d,x₂=i_q, x₃=u_d,x₄=u_q, state variable is substituted into filter equation and exists Expression formula in dq coordinate system, respectively obtains electric current at d axle, the state equation of q axle, voltage d axle, The state equation of q axle:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=\frac{1}{L}(-R{x}_1+\mathrm{\ω}L{x}_2+e_d-u_d)\\ {\stackrel{\·}{x}}_2=\frac{1}{L}(-R{x}_2+\mathrm{\ω}L{x}_1+e_q-u_q)\end{array}\right.$

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_3=\frac{1}{C}(i_d+\mathrm{\ω}C{x}_4)-\frac{1}{C}{i}_{od}\\ {\stackrel{\·}{x}}_4=\frac{1}{C}(i_q+{\mathrm{\ωCx}}_3)-\frac{1}{C}{i}_{oq}\end{array}\right.$

In formula,

Optionally, in another embodiment of the present invention, described d axle component and electricity to electric current respectively The q axle component of stream and the q axle component of the d axle component of voltage and voltage carry out active disturbance rejection uneoupled control, Including:

1) according to the d axle component of electric current, the q axle component of electric current, the d axle component of voltage and the electricity set The desired value of the state variable corresponding to q axle component of pressure transition process arranging respectively, obtains smooth output Signal, and extract the differential signal of output signal；

The step for arrange the transient process of given input as required, it is achieved that nothing quick to input signal Overshoot is followed the tracks of, and reduces the initial error of system, solves between faster system response speed and overshoot Contradiction.

2) d axle component, the q axle component of electric current, the d axle component of voltage and the q axle of voltage to electric current State variable and inside and outside disturbance that component is corresponding are estimated, obtain the d axle component of electric current, the q of electric current Axle component, the estimated value of the d axle component state variable corresponding with the q axle component of voltage of voltage and disturb Dynamic estimated value；

The step for while controlled variable is estimated, the disturbance quantity and not affecting controlled output The amount of determination expands into new state variable, and the nonlinear uncertainty object containing unknown disturbances is turned to integration Tandem type object, in order to follow-up control it.

3) respectively to described output signal and the d axle component of described electric current, the q axle component of electric current, voltage The estimated value of the d axle component state variable corresponding with the q axle component of voltage take difference, obtain state and become Amount error；

The step for the state variable error that obtains, be the follow-up prerequisite acquiring final controlled quentity controlled variable.

4) benefit that the nonlinear feedback that utilizes described state variable error corresponding is corresponding with described disturbance estimated value The amount of repaying composition control amount together；

Described controlled quentity controlled variable is by nonlinear feedback corresponding to described state variable error and described disturbance estimated value pair The compensation dosage superposition answered is constituted.

5) according to controlled quentity controlled variable respectively to the d axle component of electric current, the q axle component of electric current, the d axle component of voltage The state variable corresponding with the q axle component of voltage carries out active disturbance rejection uneoupled control.

Embodiments provide a kind of uneoupled control device based on virtual synchronous electromotor, see figure 3, this device includes: establishing equation unit 201, coordinate transformation unit 202, component acquiring unit 203, Active disturbance rejection uneoupled control unit 204.

Wherein, establishing equation unit 201, for setting up the LC filter equation of virtual synchronous electromotor；

Coordinate transformation unit 202, for being converted into dq coordinate by the coordinate system of described LC filter equation System, obtains described LC filter equation expression formula in dq coordinate system；

The mathematical model physical significance of the LC filter equation that described establishing equation unit 201 is set up is clear, Intuitively, but in this mathematical model, AC is time-varying of ac, is unfavorable for Control System Design. To this end, the Coordinate Conversion of described LC filter equation is become with electrical network by coordinate transformation unit by coordinate transform The dq coordinate system of fundamental frequency synchronous rotary.So after Rotating Transition of Coordinate, described LC wave filter side The DC Variable that first-harmonic sinusoidal variations amount in journey coordinate system is converted in synchronous rotating frame, thus Simplify Control System Design.

Component acquiring unit 203, for according to described filter equation expression formula in dq coordinate system, Obtain the d axle component of electric current and the q axle component of electric current and the d axle component of voltage and the q of voltage respectively Axle component；

It is an object of the invention to realize the dq uneoupled control of voltage and current, therefore, component acquiring unit 203 Obtain electric current and the d axle of voltage and q axle component is the basis realizing subsequent control.

Active disturbance rejection uneoupled control unit 204, for dividing the d axle component of described electric current and the q axle of electric current respectively The q axle component of amount and the d axle component of voltage and voltage carries out active disturbance rejection uneoupled control.

Active disturbance rejection uneoupled control unit 204 uses active disturbance rejection decoupling control technology to solve described each component Coupling controls, and this step is the committed step of the dq uneoupled control realizing voltage and current.Active disturbance rejection decoupling control Technical performance processed is good, it is simple to control, precision is high, have strong robustness and realizability, and the present invention exists The step for utilize active disturbance rejection decoupling control technology so that robustness of the present invention and adaptability are the best.

During device busy of the present invention, first set up virtual synchronous by establishing equation unit 201 and send out The LC filter equation of motor, then equation coordinate system is converted to dq coordinate by coordinate transformation unit 202 System, obtains the dq equivalent model of virtual synchronous electromotor, and then by component acquiring unit 203 from described dq etc. Obtaining voltage in effect model with electric current at d axle and the component of q axle, last active disturbance rejection uneoupled control unit 204 is right Each component carries out active disturbance rejection uneoupled control.During described device busy, coordinate transformation unit 202 is to seat Mark is changed, and simplifies Control System Design.Auto Disturbances Rejection Control Technique itself has functional, control System is simple, precision advantages of higher, and active disturbance rejection uneoupled control unit 204 utilizes active disturbance rejection decoupling control technology pair D axle component and the q axle component of voltage and current carry out uneoupled control respectively, it is achieved that electricity truly Current voltage dq decouples, and system robustness and adaptability are the best.

Optionally, in another embodiment of the present invention, described establishing equation unit 201, specifically for:

According to voltage-source type combining inverter topology diagram, the voltage x current of combined with virtual synchronous generator Fundamental relation, the LC filter equation setting up virtual synchronous electromotor is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_a}{dt}=e_a-u_a-R{i}_a\\ L\frac{{\mathrm{di}}_b}{dt}=e_b-u_b-{\mathrm{Ri}}_b\\ L\frac{{\mathrm{di}}_c}{dt}=e_c-u_c-{\mathrm{Ri}}_c\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_a}{dt}=i_a-i_{oa}\\ C\frac{{\mathrm{du}}_b}{dt}=i_b-i_{ob}\\ C\frac{{\mathrm{du}}_c}{dt}=i_c-i_{oc}\end{array}\right.$

In formula, R, L, C are the impedance of virtual synchronous machine, filter inductance, filter capacitor respectively；i_a、i_b、i_c It is the three-phase current of filter inductance respectively；i_oa、i_ob、i_ocIt is the three-phase current flowing to common bus respectively； u_a、u_b、u_cIt is the output voltage of three-phase filter capacitor respectively；e_a、e_b、e_cFor inverter output voltage.

Optionally, in another embodiment of the present invention, described coordinate transformation unit 202, specifically for:

By coordinate transform, three-phase symmetrical rest frame is converted into electrical network fundamental frequency synchronous rotary Dq coordinate system, obtaining filter equation expression formula in dq coordinate system is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_d}{dt}=-R{i}_d+\mathrm{\ω}L{i}_q+e_d-u_d\\ L\frac{{\mathrm{di}}_q}{dt}=-{\mathrm{Ri}}_q+{\mathrm{\ωLi}}_d+e_q-u_q\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_d}{dt}=i_d-i_{od}+\mathrm{\ω}C{u}_q\\ C\frac{{\mathrm{du}}_q}{dt}=i_q-i_{oq}-{\mathrm{\ωCu}}_d\end{array}\right.$

In formula, e_d, e_qIt is pressed in d axle and the component of q axle for inverter side three-phase alternating current；i_d, i_qFor inverter side The d axle component of three-phase alternating current and q axle component；u_d, u_qD axle for the set end voltage of synchronous generator divides Amount and q axle component.

Optionally, in another embodiment of the present invention, described component acquiring unit 203, including:

State variable value unit, being used for taking state variable is x₁=i_d,x₂=i_q, x₃=u_d,x₄=u_q；

Substitute into computing unit, for state variable being substituted into filter equation expression formula in dq coordinate system, Respectively obtaining electric current at d axle, the state equation of q axle, voltage is at d axle, the state equation of q axle:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=\frac{1}{L}(-R{x}_1+\mathrm{\ω}L{x}_2+e_d-u_d)\\ {\stackrel{\·}{x}}_2=\frac{1}{L}(-R{x}_2+\mathrm{\ω}L{x}_1+e_q-u_q)\end{array}\right.$

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_3=\frac{1}{C}(i_d+\mathrm{\ω}C{x}_4)-\frac{1}{C}{i}_{od}\\ {\stackrel{\·}{x}}_4=\frac{1}{C}(i_q+{\mathrm{\ωCx}}_3)-\frac{1}{C}{i}_{oq}\end{array}\right.$

In formula,

Optionally, in another embodiment of the present invention, shown in Figure 4, the decoupling control of described active disturbance rejection Unit 204 processed, including:

Nonlinear Tracking Differentiator (TD), for the d axle component according to the electric current set and the q of electric current Desired value V of the state variable that the d axle component of axle component and voltage is corresponding with the q axle component of voltage is respectively Transition process arranging, obtains smooth output signal V₁, and extract the differential signal of output signal；

$\left\{\begin{array}{c}{\stackrel{\·}{V}}_1=-\mathrm{\λ}fal(\mathrm{\ϵ},a_0,{\mathrm{\δ}}_0)\\ \mathrm{\ϵ}=V_1-x\end{array}\right.$

Wherein, fal is optimal synthesis control function；X is input signal；V₁Tracking signal for x；λ is The tracking velocity factor.

Non-linear differential tracker transition process arranging as required, it is achieved non-overshoot quick to input signal Follow the tracks of, reduce the initial error of system, solve the contradiction between faster system response speed and overshoot.

Extended state observer (ESO), for the d axle component of electric current and the q axle component of electric current and State variable and inside and outside disturbance that the d axle component of voltage is corresponding with the q axle component of voltage are estimated, The q axle obtaining the d axle component of electric current and the q axle component of electric current and the d axle component of voltage and voltage divides The estimated value of the state variable that amount is corresponding and disturbance estimated value；

As a example by electric current d axle or q axle component: extended state observer obtains electricity with system input and output Stream d axle or the estimation z of q Spindle Status variable₁, and affecting disturbance quantity and the Uncertainty expansion of controlled output State variable z of Cheng Xin₂。

$\left\{\begin{array}{c}{\stackrel{\·}{Z}}_1=Z_2-{\mathrm{\β}}_{1}fal({\mathrm{\ϵ}}_1,a_1,{\mathrm{\δ}}_1)+\frac{1}{L}(-R{Z}_1-u_d)+\frac{1}{L}{e}_d\\ {\stackrel{\·}{Z}}_2=-{\mathrm{\β}}_{2}fal({\mathrm{\ϵ}}_1,a_1,{\mathrm{\δ}}_1)\end{array}\right.$

ε₁=Z₁-x

Wherein, Z₁Tracking signal for x；Z₂It it is the estimation to total disturbance；β₁、β₂Correct for output error Gain；Fal is optimal synthesis control function；δ₁For filtering factor.

Take difference unit, for d axle component and the q of electric current to described output signal and described electric current respectively The estimated value of the state variable that the d axle component of axle component and voltage is corresponding with the q axle component of voltage takes difference Value, obtains state variable error；

State variable error ε₁=v₁-z₁。

Nonlinearity erron Feedback Control Laws (NLSEF), for utilization state variable error nonlinear feedback with The compensation dosage composition control amount together of the disturbance estimated value that extended state observer obtains；

Nonlinearity erron Feedback Control Laws (NLSEF) is according to error ε₁Determine to control pure integrator tandem type Object control rule u₀, to error feedback control amount u₀By disturbance estimated value z₂Compensation determine final control Amount processed: u=u₀-z₂/b₀, here, parameter b₀It is to determine to compensate strong and weak " compensating factor ", as can Parameter is adjusted to use.

$\left\{\begin{array}{c}{u}_0=k_{1}fal({\mathrm{\ϵ}}_1,a_1{\mathrm{\δ}}_1)\\ e_d=-L(u_0-Z_2)+R{Z}_1+u_d\end{array}\right.$

Wherein, fal is optimal synthesis control function；δ₁For filtering factor.

Uneoupled control unit, for d axle component and the q axle of electric current to electric current respectively according to above-mentioned controlled quentity controlled variable The state variable that the d axle component of component and voltage is corresponding with the q axle component of voltage carries out active disturbance rejection decoupling control System.

Active disturbance rejection decoupling control technology is applied to virtual synchronous electromotor, obtains Fig. 5 such as and there is active disturbance rejection solution Coupling controls the virtual synchronous generator system shown in virtual synchronous generator system block diagram of function.

Within the system, the combining inverter part in the power section of virtual synchronous machine, i.e. overall structure Being the main body of whole system, distributed power source is grid-connected to be realized by combining inverter.In power section In circuit, U_dIt it is the DC voltage that provided of the energy storage section of Equivalent DC voltage source, i.e. inversion system； I₁～I₆It is six IGBT switches in bridge-type inverter；R, L, C be respectively virtual synchronous machine impedance, Filter inductance, filter capacitor；i_a、i_b、i_cIt is the three-phase current of filter inductance respectively；i_oa、i_ob、i_ocRespectively It it is the three-phase current flowing to common bus；u_oa、u_ob、u_ocIt is the output voltage of three-phase filter capacitor respectively, i.e. The output voltage of virtual synchronous machine, is also public electric wire net three-phase voltage.

In system work process, reference value P of the power that central controller is given_ref、Q_refGinseng with voltage Examine value E_refThree-phase voltage is obtained through VSG control (include gaining merit-FREQUENCY CONTROL, idle-Control of Voltage) e_abc, three-phase voltage e_abcAfter dq converts, introduce virtual impedance, realized by active disturbance rejection decoupling control technology Voltage x current dq decouples, and finally, voltage controls three-phase brachium pontis through PWM generator after dq inverse transformation Open and turn off.

Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses The present invention.Multiple amendment to these embodiments will be aobvious and easy for those skilled in the art See, generic principles defined herein can without departing from the spirit or scope of the present invention, Realize in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein, And it is to fit to the widest scope consistent with principles disclosed herein and features of novelty.

Claims (10)

1. a decoupling control method based on virtual synchronous electromotor, it is characterised in that including:

Set up the LC filter equation of virtual synchronous electromotor；

The coordinate system of described LC filter equation is converted into dq coordinate system, obtains described LC wave filter Equation expression formula in dq coordinate system；

According to described filter equation expression formula in dq coordinate system, obtain the d axle component of electric current respectively With the q axle component of electric current and the d axle component of voltage and the q axle component of voltage；

Respectively to the d axle component of described electric current and the q axle component of electric current and the d axle component of voltage and electricity The q axle component of pressure carries out active disturbance rejection uneoupled control.

Method the most according to claim 1, it is characterised in that described set up virtual synchronous electromotor LC filter equation, including:

According to voltage-source type combining inverter topology diagram, the voltage x current of combined with virtual synchronous generator Fundamental relation, the LC filter equation setting up virtual synchronous electromotor is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_a}{dt}=e_a-u_a-{\mathrm{Ri}}_a\\ L\frac{{\mathrm{di}}_b}{dt}=e_b-u_b-{\mathrm{Ri}}_b\\ L\frac{{\mathrm{di}}_c}{dt}=e_c-u_c-{\mathrm{Ri}}_c\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_a}{dt}=i_a-i_{oa}\\ C\frac{{\mathrm{du}}_b}{dt}=i_b-i_{ob}\\ C\frac{{\mathrm{du}}_c}{dt}=i_c-i_{oc}\end{array}\right.$

In formula, R, L, C are the impedance of virtual synchronous machine, filter inductance, filter capacitor respectively；i_a、i_b、i_c It is the three-phase current of filter inductance respectively；i_oa、i_ob、i_ocIt is the three-phase current flowing to common bus respectively； u_a、u_b、u_cIt is the output voltage of three-phase filter capacitor respectively；e_a、e_b、e_cFor inverter output voltage.

Method the most according to claim 1, it is characterised in that described by described LC wave filter side The coordinate system of journey is converted into dq coordinate system, obtains the expression in dq coordinate system of the described LC filter equation Formula, including:

By coordinate transform, three-phase symmetrical rest frame is converted into electrical network fundamental frequency synchronous rotary Dq coordinate system, obtaining filter equation expression formula in dq coordinate system is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_d}{dt}=-R{i}_d+\mathrm{\ω}L{i}_q+e_d-u_d\\ L\frac{{\mathrm{di}}_q}{dt}=-{\mathrm{Ri}}_q+{\mathrm{\ωLi}}_d+e_q-u_q\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_d}{dt}=i_d-i_{od}+{\mathrm{\ωCu}}_q\\ C\frac{{\mathrm{du}}_q}{dt}=i_q-i_{oq}-{\mathrm{\ωCu}}_d\end{array}\right.$

In formula, e_d, e_qIt is pressed in d axle and the component of q axle for inverter side three-phase alternating current；i_d, i_qFor inversion The d axle component of side three-phase alternating current and q axle component；u_d, u_qD for the set end voltage of synchronous generator Axle component and q axle component.

Method the most according to claim 1, it is characterised in that described according to described filter equation Expression formula in dq coordinate system, obtains the d axle component of electric current and the q axle component of electric current and electricity respectively The d axle component of pressure and the q axle component of voltage, including:

Taking state variable is x₁=i_d,x₂=i_q, x₃=u_d,x₄=u_q, state variable is substituted into filter equation and exists Expression formula in dq coordinate system, respectively obtains electric current at d axle, the state equation of q axle, voltage d axle, The state equation of q axle:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=\frac{1}{L}(-R{x}_1+\mathrm{\ω}L{x}_2+e_d-u_d)\\ {\stackrel{\·}{x}}_2=\frac{1}{L}(-R{x}_2+\mathrm{\ω}L{x}_1+e_q-u_q)\end{array}\right.$

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_3=\frac{1}{C}(i_d+\mathrm{\ω}C{x}_4)-\frac{1}{C}{i}_{od}\\ {\stackrel{\·}{x}}_4=\frac{1}{C}(i_q+{\mathrm{\ωCx}}_3)-\frac{1}{C}{i}_{oq}\end{array}\right.$

In formula,

Method the most according to claim 1, it is characterised in that described d to described electric current respectively The q axle component of the q axle component of axle component and electric current and the d axle component of voltage and voltage carries out active disturbance rejection Uneoupled control, including:

According to the d axle component of electric current, the q axle component of electric current, the d axle component of voltage and the voltage that set The desired value transition process arranging respectively of state variable corresponding to q axle component, obtain smooth output letter Number, and extract the differential signal of output signal；

The q axle of d axle component, the q axle component of electric current, the d axle component of voltage and the voltage of electric current is divided State variable and inside and outside disturbance that amount is corresponding are estimated, obtain the d axle component of electric current, the q of electric current Axle component, the estimated value of the d axle component state variable corresponding with the q axle component of voltage of voltage and disturb Dynamic estimated value；

Respectively to described output signal and the d axle component of described electric current, the q axle component of electric current, the d of voltage The estimated value of the state variable that axle component is corresponding with the q axle component of voltage takes difference, obtains state variable by mistake Difference；

The compensation that the nonlinear feedback that utilizes described state variable error corresponding is corresponding with described disturbance estimated value Measure composition control amount together；

According to controlled quentity controlled variable respectively to the d axle component of electric current, the q axle component of electric current, the d axle component of voltage The state variable corresponding with the q axle component of voltage carries out active disturbance rejection uneoupled control.

6. a uneoupled control device based on virtual synchronous electromotor, it is characterised in that including:

Establishing equation unit, for setting up the LC filter equation of virtual synchronous electromotor；

Coordinate transformation unit, for the coordinate system of described LC filter equation is converted into dq coordinate system, Obtain described LC filter equation expression formula in dq coordinate system；

Component acquiring unit, for according to described filter equation expression formula in dq coordinate system, respectively The q axle of the d axle component and the q axle component of electric current and the d axle component of voltage and voltage that obtain electric current divides Amount；

Active disturbance rejection uneoupled control unit, for dividing the d axle component of described electric current and the q axle of electric current respectively The q axle component of amount and the d axle component of voltage and voltage carries out active disturbance rejection uneoupled control.

Device the most according to claim 6, it is characterised in that described establishing equation unit, specifically For:

According to voltage-source type combining inverter topology diagram, the voltage x current of combined with virtual synchronous generator Fundamental relation, the LC filter equation setting up virtual synchronous electromotor is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_a}{dt}=e_a-u_a-{\mathrm{Ri}}_a\\ L\frac{{\mathrm{di}}_b}{dt}=e_b-u_b-{\mathrm{Ri}}_b\\ L\frac{{\mathrm{di}}_c}{dt}=e_c-u_c-{\mathrm{Ri}}_c\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_a}{dt}=i_a-i_{oa}\\ C\frac{{\mathrm{du}}_b}{dt}=i_b-i_{ob}\\ C\frac{{\mathrm{du}}_c}{dt}=i_c-i_{oc}\end{array}\right.$

In formula, R, L, C are the impedance of virtual synchronous machine, filter inductance, filter capacitor respectively；i_a、i_b、i_c It is the three-phase current of filter inductance respectively；i_oa、i_ob、i_ocIt is the three-phase current flowing to common bus respectively； u_a、u_b、u_cIt is the output voltage of three-phase filter capacitor respectively；e_a、e_b、e_cFor inverter output voltage.

Device the most according to claim 6, it is characterised in that described coordinate transformation unit, specifically For:

By coordinate transform, three-phase symmetrical rest frame is converted into electrical network fundamental frequency synchronous rotary Dq coordinate system, obtaining filter equation expression formula in dq coordinate system is:

$\left\{\begin{array}{c}L\frac{{\mathrm{di}}_d}{dt}=-R{i}_d+\mathrm{\ω}L{i}_q+e_d-u_d\\ L\frac{{\mathrm{di}}_q}{dt}=-{\mathrm{Ri}}_q+{\mathrm{\ωLi}}_d+e_q-u_q\end{array}\right.$

$\left\{\begin{array}{c}C\frac{{\mathrm{du}}_d}{dt}=i_d-i_{od}+{\mathrm{\ωCu}}_q\\ C\frac{{\mathrm{du}}_q}{dt}=i_q-i_{oq}-{\mathrm{\ωCu}}_d\end{array}\right.$

In formula, e_d, e_qIt is pressed in d axle and the component of q axle for inverter side three-phase alternating current；i_d, i_qFor inversion The d axle component of side three-phase alternating current and q axle component；u_d, u_qD for the set end voltage of synchronous generator Axle component and q axle component.

Device the most according to claim 6, it is characterised in that described component acquiring unit, including:

State variable value unit, being used for taking state variable is x₁=i_d,x₂=i_q, x₃=u_d,x₄=u_q；

Substitute into computing unit, for state variable being substituted into filter equation expression formula in dq coordinate system, Respectively obtaining electric current at d axle, the state equation of q axle, voltage is at d axle, the state equation of q axle:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=\frac{1}{L}(-R{x}_1+\mathrm{\ω}L{x}_2+e_d-u_d)\\ {\stackrel{\·}{x}}_2=\frac{1}{L}(-R{x}_2+\mathrm{\ω}L{x}_1+e_q-u_q)\end{array}\right.$

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_3=\frac{1}{C}(i_d+\mathrm{\ω}C{x}_4)-\frac{1}{C}{i}_{od}\\ {\stackrel{\·}{x}}_4=\frac{1}{C}(i_q+{\mathrm{\ωCx}}_3)-\frac{1}{C}{i}_{oq}\end{array}\right.$

In formula,

Device the most according to claim 6, it is characterised in that described active disturbance rejection uneoupled control list Unit, including:

Nonlinear Tracking Differentiator, for the d axle component according to the electric current set and the q axle component of electric current And the desired value of the d axle component of the voltage state variable corresponding with the q axle component of voltage arranged respectively Transient, obtains smooth output signal, and extracts the differential signal of output signal；

Extended state observer, for the d axle component of electric current and the q axle component of electric current and the d of voltage State variable and inside and outside disturbance that axle component is corresponding with the q axle component of voltage are estimated, obtain electric current D axle component corresponding with the q axle component of voltage with the d axle component of the q axle component of electric current and voltage The estimated value of state variable and disturbance estimated value；

Take difference unit, for d axle component and the q of electric current to described output signal and described electric current respectively The estimated value of the state variable that the d axle component of axle component and voltage is corresponding with the q axle component of voltage takes difference Value, obtains state variable error；

Nonlinearity erron Feedback Control Laws, for nonlinear feedback and the expansion shape of utilization state variable error The compensation dosage composition control amount together of the disturbance estimated value that state observer obtains；

Uneoupled control unit, for d axle component and the q of electric current to electric current respectively according to above-mentioned controlled quentity controlled variable The state variable that the d axle component of axle component and voltage is corresponding with the q axle component of voltage carries out active disturbance rejection solution Coupling controls.